I don't know the laws in MN, but you are going to get many, many different answers and invariably the discussion will result in the different laws in various parts of the country. I find these types of discussions interesting to see the difference in laws across the country. I'll start down that road. In my last state, burglary was considered a violent crime and as such deadly force was a legal option. Someone reaching into your car door and stealing a cigarette out of it met the definition of a burglary. To make it more interesting/confusing stealing the whole car was simply grand theft and deadly force was not an option.
As far as burglary to a dwelling, the person did not actually have to be inside to have it qualify as a burglary. All they had to do was break the curtilage. The eaves, or a fenced yard qualified for that purpose. It would be a very difficult case to make if you didn't see the person before shooting them, though. What if it was your drunk neighbor who returned "home" to the wrong house? Or you daughter's boyfriend dropping her off? Or your kid, who was supposed to be in bed trying to sneak in/out?
My advice, call 9-1-1, bunker yourself in and wait for the po-po. The dispatcher might keep you on the line. That is a good thing. Anything you say to the bad guy, say it loud and it will be recorded on tape. If the situation goes south, the dispatcher will be able to advise any responding officers as soon as it occurs. If the bad guy isn't inside yet, you have time. If you alert the bad guy, odds of catching him goes down. If you wait until they are inside, you can very easily justify your fear, so not only do you meet the legal requirements you will be able to more easily pass the test given by a jury. Especially at night, someone poking around the outside of your house is most likely not there to sell you girl scout cookies.
But when a long train of abuses and usurpations, pursuing invariably the same object, evinces a design to reduce them under absolute Despotism, it is their right, it is their duty, to throw off such Government, and to provide new guards for their future security.
Translation for the intellectually challenged: If the government screws the people too much, it is the right and duty of the people to revolt and form a new government.